Project Role and Responsibilities

My research focuses on VR/XR-based robot teleoperation and human–robot interaction, with particular interest in transferring natural human motion to robotic systems with different kinematic structures and workspace scales.

My main responsibilities include:

• Designing VR-based teleoperation interfaces using Unity and Meta Quest
• Developing human-to-robot motion mapping and calibration methods
• Analyzing human and robot workspaces, kinematics, and manipulability
• Developing real-time robot control and communication systems using ROS/ROS2, Python, and C++
• Integrating physical robots, sensors, grippers, haptic devices, and digital-twin environments
• Designing and conducting teleoperation experiments and user evaluations
• Developing teleoperation methods for heterogeneous manipulators and humanoid robots

I primarily work with Unity/C#, ROS/ROS2, Python, C++, Meta Quest, and robot real-time control APIs, and have experience integrating platforms including BTSM, Doosan A0509, myCobot 280, and Unitree G1.

Project Contributions

Heterogeneous Robot Teleoperation
Developed a teleoperation framework for robots with significantly different workspace sizes and kinematic characteristics. The research investigates user-specific calibration, human–robot workspace correspondence, manipulability-based scale and position optimization, and virtual proxy control for stable motion transmission.

VR-Based Robot Teleoperation and Haptic Feedback
Contributed to the development of a VR-based teleoperation system integrating hand tracking, inverse kinematics, singularity management, force/contact sensing, and vibrotactile feedback. This work was published in IEEE Access.

Real-Time Robot–VR Integration
Implemented real-time communication and control pipelines between Unity, ROS2, and physical robotic systems. The system integrates robot motion commands, gripper control, FSR sensors, and haptic feedback while addressing control-cycle synchronization and communication reliability.

Humanoid Whole-Body Teleoperation
Currently developing a teleoperation framework for the Unitree G1 humanoid robot, combining upper-body manipulation with lower-body locomotion and balance policies. The research focuses on maintaining locomotion stability while allowing intuitive upper-body motion control.

Teleoperation for Hazardous and Remote Environments
Research experience also includes digital-twin and VR teleoperation technologies for remote robotic handling in environments where direct human access is limited, including applications related to nuclear facilities and radioactive waste handling.

IEEE Access (2026) · Co-author